足球机器人运动控制算法研究.pdfVIP

33 6 ( ) Vol . 33, No. 6 2 0 0 6 1 2 Journal of Hunan U n vers ty ( N atural Sc ences) Dec 2 0 0 6 : 2006) 余群明, 王会方, 张 骏, 周 兵, 朱德康 ( , 410082) : 在建立基于小转角的足球机器人运动学模 的基础上, 提出了单神经元自适应 P ID 控制算法和基于Kalman 滤波的PID 控制算法. 通过仿真分析, 系统在单神经元自适应 P ID 控制下, 超调量上升时间和峰值时间分别是常规 PID 控制下的30 . 7% , 54. 3% 和 72. 7% , 完全满足足球机器人现场比赛竞技性的要求; 基于Kalman 滤波的PID 控制能够抑 制干扰, 提高控制精度, 控制效果明显改善. : 足球机器人; 运动控制; 单神经元自适应PID 算法; Kalman 滤波 : T P242 :A T he A lgor thm of M ot on Control for Soccer Robot YU Qunm ng , WA N G Hufang, ZHAN G Jun, ZHOU B ng, ZHU Dekang ( Co llege of M echan cal and Automo t ve Eng neer ng , Hunan U n v, Changsha, Hunan 4 100 82 , Ch na) Abstract:T he mot on model of soccer robot based on l ttle angle was constructed. T he mononeural selfadapt ve PID cont rol algor thm and PID control algor thm based on Kalman f lter were proposed. T he s mulat on results nd cated that the overshoot ng number, r set me and peak value of the system controlled by mononeural selfadapt ve PID were respect vely 30. 7% , 54. 3% and 72. 7% of those by rout ne PID control, wh ch totally sat sf ed the requ rements for soccer robot athlet c compet t ons; PID control algor thm based on Kalman f lter could preferably restra n the d sturbance, enhance t he control precs on, and mprove the control result. Key words:soccer robot; mot on control; mononeural selfadapt ve PID control algor thm; Kalman f lter , . 1 [ 1- 5] . PID , . , . [ 6] . 1 . , :